Design of Magnetic Continuum Robots with Tunable Force Response Using Rotational Ring Pairs

TL;DR

This paper introduces a novel continuum robot design with tunable magnetic response, enabling enhanced steering capabilities and clinical applicability through adjustable magnetic direction and intensity.

Contribution

The paper presents a new robot design that allows online tuning of magnetic response, unlike classical fixed magnetic content designs, expanding control and application possibilities.

Findings

Maximum tip deflection of 33.8 mm achieved.

Mean absolute tip tracking error of 1.86 mm.

Effective operation in both controllable and fixed magnetic fields.

Abstract

In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering DOF without the need to control the external fields. This is unattainable with classical designs, which rely on fixed internal magnetic content and steer solely under the effect of a controllable magnetic field. The proposed robot design can be used in both controllable and fixed magnetic fields, potentially widening the clinical applicability of these robots. We experimentally show a max tip deflection of 33.8 mm from the resting state (23 % of the length of the robot). We discuss a model based on modified beam theory that captures the mechanical behavior of the continuum robot, with a mean absolute tip tracking error of 1.86 mm (1.2 % of the length) and maximum errors of less than 4.8 mm (3.2 % of the length) for all experimental points.